def __init__(self):
# Initialize each motor with the correct direction and gearing.
self.left_rear_wheels = Motor(Port.E, Direction.CLOCKWISE,
self.REAR_GEARS)
self.right_rear_wheels = Motor(Port.F, Direction.COUNTERCLOCKWISE,
self.REAR_GEARS)
self.left_front_wheel = Motor(Port.C, Direction.COUNTERCLOCKWISE, None)
self.right_front_wheel = Motor(Port.D, Direction.CLOCKWISE, None)
# Initialize sensors, named after the Perseverance Mars Rover instruments.
self.mast_cam = UltrasonicSensor(Port.B)
self.sherloc = ColorSensor(Port.A)
# Initialize the hub and start the animation
self.hub = InventorHub()
self.hub.display.animate(self.HEART_BEAT, 30)
def __init__(self):
self.hub = InventorHub()
# Configure the drive base
self.left_motor = Motor(Port.C, Direction.COUNTERCLOCKWISE)
self.right_motor = Motor(Port.A)
self.drive_base = DriveBase(self.left_motor,
self.right_motor,
wheel_diameter=self.WHEEL_DIAMETER,
axle_track=self.AXLE_TRACK)
# Configure other motors and sensors
self.arm_movement_motor = Motor(Port.D)
self.action_motor = Motor(Port.B)
self.color_sensor = ColorSensor(Port.E)
self.distance_sensor = UltrasonicSensor(Port.F)
def __init__(self):
# Configure the hub, the kicker motor, and the sensors.
self.hub = InventorHub()
self.kicker_motor = Motor(Port.C)
self.distance_sensor = UltrasonicSensor(Port.D)
self.color_sensor = ColorSensor(Port.E)
# Configure the drive base.
left_motor = Motor(Port.B, Direction.COUNTERCLOCKWISE)
right_motor = Motor(Port.A)
self.drive_base = DriveBase(left_motor, right_motor,
self.WHEEL_DIAMETER, self.AXLE_TRACK)
# Prepare tricky to start kicking!
self.distance_sensor.lights.off()
self.reset_kicker_motor()
self.distance_sensor.lights.on(100)
def __init__(self):
self.hub = InventorHub(top_side=Axis.Z, front_side=-Axis.X)
# Configure the leg motors
self.front_left_leg_motor = Motor(Port.D)
self.front_right_leg_motor = \
Motor(Port.C, Direction.COUNTERCLOCKWISE)
self.rear_left_leg_motor = Motor(Port.B)
self.rear_right_leg_motor = \
Motor(Port.A, Direction.COUNTERCLOCKWISE)
self.leg_motors = [
self.front_left_leg_motor, self.front_right_leg_motor,
self.rear_left_leg_motor, self.rear_right_leg_motor
]
# Configure the sensors
self.color_sensor = ColorSensor(Port.F)
self.distance_sensor = UltrasonicSensor(Port.E)
from pybricks.hubs import InventorHub
from pybricks.pupdevices import Motor, ColorSensor
from pybricks.parameters import Port, Button, Stop
from pybricks.tools import wait
# Tuning parameters
SPEED_MAX = 1000
SPEED_TURN = 500
SPEED_OFFLINE = 400
# Initialize the hub, motors, and sensor
hub = InventorHub()
steer_motor = Motor(Port.A)
drive_motor = Motor(Port.B)
sensor = ColorSensor(Port.C)
def wait_for_button(b):
# Wait for press
while b not in hub.buttons.pressed():
wait(10)
# and release
while b in hub.buttons.pressed():
wait(10)
# Use the color saturation value to track line
def get_light():
return sensor.hsv().s